Figure 10
From: A human motion model based on maps for navigation systems
Particle cloud representation of a multimodal position estimation scenario (two particles clouds) using a PF-based estimator at different time instances when our proper maps-based motion model is used. The scenario is based on the playback of real data, and the second cloud far from the building is added to provoke the case of multimodality. The proper maps-based motion model rewards the surviving particles inside the building since they will be consistent with the limited possible movement there. As time elapses, the loss due to walls is compensated and the correct particles cloud survives.